Research on driving performances of electric transmission tracked vehicles based on torque control strategy

The feasibility study on controlling the movement of an electric transmission tracked vehicle through controlling the output torques of left and right side motors directly was discussed in principle. The torque control strategy was put forward. The 3-D multi-body dynamics virtual prototype model of tracked vehicle running gear and the models of integrated controller and motor control systems were built based on multi-body dynamics analysis software RecurDyn/Track-HM and control system analysis software Matlab/Simulink. Also, the collaborative simulation model based on interface technology of different softwares was built. Under the conditions of the acceleration time (0-32 km/h), straight-line offset data in 100 m at different velocities, B/2 steering and climb ability of 15° slope, the vehicle's driving performances were researched by collaborative simulation and reality vehicle test. The correctness of the model and torque control strategy is validated by analysis and comparison, which lays the foundation for further research on other driving performances.